/*
 * Conversion.h
 *
 *  Created on: Mar 23, 2013
 *      Author: ohnozzy
 */

#ifndef CONVERSION_H_
#define CONVERSION_H_
#include <fcl/math/transform.h>
#include <ompl/base/spaces/SO3StateSpace.h>
namespace flyingcamera
{
    namespace conversion
    {
       void moveUpandTranslate(fcl::Transform3f& tf, double cone_length,double x, double y);
       void ompl2fclRotation(const ompl::base::SO3StateSpace::StateType& ompl_r, fcl::Quaternion3f& fcl_r);
    }
    double AngleChangeCosValue(const fcl::Quaternion3f& r1, const fcl::Quaternion3f& r2);
}



#endif /* CONVERSION_H_ */
